Bottle taking and placing device

Abstract

The utility model discloses a bottle taking and placing device which is used for transferring bottles between a first station and a second station and comprises a bottle taking piece, a connecting rod mechanism and a driving mechanism used for driving the bottle taking piece, the driving mechanism is connected with the connecting rod mechanism, and the connecting rod mechanism is connected with the bottle taking piece. The bottle taking and placing device further comprises an orientation mechanism used for keeping the direction of the bottle taking piece fixed, the orientation mechanism and the connecting rod mechanism are connected to form at least one parallelogram, the orientation mechanism comprises a fixed arm fixed relative to the connecting rod mechanism and a driven arm moving along with the connecting rod mechanism, and the fixed arm is connected with the driven arm. According to the bottle body taking and placing device, the fixed arm and the driven arm are relatively fixed, so that when the driving mechanism drives the connecting rod mechanism to rotate, the connecting rod mechanism and the orientation mechanism form at least one parallelogram; and the displacement is transmitted through the transformation of the parallelogram form, so that the movement amplitude of the connecting rod mechanism is reduced, and the bottle taking piece arranged at one end of the connecting rod mechanism is smaller in movement amplitude and more stable in movement.

Description

Technical Field

[0001] The utility model relates to the technical field of pharmaceutical machinery, and more specifically, to a bottle taking and placing device. Background Art

[0002] At present, various pharmaceutical equipment and beverage filling equipment often need to use grabbing and conveying mechanisms to transport materials from the previous station to the next station. The transfer and transportation process requires linear motion and / or lifting motion, and even rotation or flipping motion is required for inspection. Therefore, various pharmaceutical equipment often needs to use a relatively complex conveying and grabbing mechanism.

[0003] However, pharmaceutical packaging equipment usually needs to be operated in a clean and sterile environment. In some special workstations, the material needs to change the movement of the three directions of X-axis, Y-axis and Z-axis at the same time. If the common three-axis translation mechanism on the market is used, the sliding pair of the mechanism is exposed in a clean and sterile environment, which may produce friction particles, making it difficult to clean and sterilize, and there is a great risk of cross contamination during work. If general robots on the market are used, there are very few robots that can achieve cleaning and sterilization, the procurement cost is expensive, and the structure is bulky, which increases the working energy consumption of the sterile area and is not conducive to working in a limited space.

[0004] Therefore, in order to solve the above problems, there is an urgent need for an articulated arm manipulator that can adapt to working in a limited space in a sterile environment and can achieve complex three-axis spatial motion. Utility Model Content

[0005] The purpose of the utility model is to provide a bottle picking and placing device. To achieve the above purpose, the technical solution of the utility model is as follows: a bottle picking and placing device, used for transferring bottles between a first station and a second station, comprising a bottle picking member, a connecting rod mechanism and a driving mechanism for driving the bottle picking member, wherein the driving mechanism is connected to the connecting rod mechanism, and the connecting rod mechanism is connected to the bottle picking member, wherein the bottle picking and placing device also comprises an orientation mechanism for keeping the direction of the bottle picking member fixed, wherein the orientation mechanism is connected to the connecting rod mechanism to form at least one parallelogram, wherein the orientation mechanism comprises a fixed arm fixed relative to the connecting rod mechanism and a driven arm following the connecting rod mechanism, wherein the fixed arm is connected to the driven arm, and the driven arm is connected to the bottle picking member.

[0006] Preferably, the connecting rod mechanism includes a horizontal swing arm, a long connecting rod, a short connecting rod and a fork swing arm;

[0007] The horizontal swing arm, the short connecting rod, the long connecting rod and the fork swing arm are rotatably connected one by one to form at least one parallelogram, one end of the horizontal swing arm is connected to the bottle picking component, the horizontal swing arm is connected to the driving mechanism, one end of the fork swing arm is fixedly connected to the first end of the driven arm, and the second end of the driven arm is fixedly connected to the fixed arm.

[0008] Preferably, the bottle picking and placing device further comprises a connecting assembly, and the connecting rod mechanism is connected to the driving mechanism via the connecting assembly.

[0009] Preferably, the connecting assembly comprises a long swing arm, a short swing arm and a swing arm connecting rod;

[0010] One end of the long swing arm is connected to the driving mechanism, and the other end of the long swing arm is rotatably connected to the horizontal swing arm. One end of the short swing arm is connected to the driving mechanism, and the other end of the short swing arm is rotatably connected to the swing arm connecting rod. The swing arm connecting rod is rotatably connected to the horizontal swing arm. The horizontal swing arm can reciprocate in the horizontal plane as the long swing arm and the short swing arm rotate.

[0011] Preferably, the bottle taking and placing device further comprises a transmission mechanism, one end of the transmission mechanism is connected to the connection assembly, and the other end of the transmission mechanism is connected to the driving mechanism;

[0012] The transmission mechanism comprises a lifting transmission assembly, a horizontal transmission assembly, and a lifting shaft, a short swing arm shaft and a long swing arm shaft arranged coaxially;

[0013] One end of the lifting transmission assembly is connected to the lifting shaft, and the lifting shaft is connected to the directional mechanism to drive the connecting rod mechanism to reciprocate in the vertical direction through the directional mechanism;

[0014] One end of the horizontal transmission assembly is connected to the short swing arm shaft and the long swing arm shaft to drive the short swing arm shaft and the long swing arm shaft to rotate, and the short swing arm shaft and the long swing arm shaft are both connected to the connecting assembly to drive the connecting assembly to rotate.

[0015] Preferably, the horizontal transmission assembly includes a pair of spline swing arms, a pair of transmission swing arms, a pair of transmission connecting rods and a pair of spline nuts;

[0016] The spline nuts are connected one-to-one to the spline swing arms, the other ends of the spline swing arms are connected one-to-one to the transmission connecting rods, the transmission connecting rods are connected one-to-one to the transmission swing arms, and the paired transmission swing arms are respectively connected to the short swing arm shaft and the long swing arm shaft to drive the short swing arm shaft and the long swing arm shaft to rotate.

[0017] Preferably, the lifting transmission assembly includes a fixing frame and a sliding block;

[0018] The fixing frame is fixedly connected to the lifting shaft to drive the lifting shaft to reciprocate in the vertical direction. The sliding block is fixedly arranged on the fixing frame, and the sliding block can drive the fixing frame to reciprocate in the vertical direction.

[0019] Preferably, the bottle taking and placing device further comprises a table and a bearing seat;

[0020] The bottle taking member, connecting rod mechanism and orienting mechanism are all sealed and arranged above the table, the driving mechanism is arranged below the table, the bearing seat is arranged on the table and one end of the bearing seat is sealed and connected to the table, and the transmission mechanism passes through the table through the bearing seat and is sealed and connected to the connecting component.

[0021] Preferably, the driving mechanism includes a lifting driving member and a horizontal driving mechanism;

[0022] The output end of the lifting drive member is fixedly connected to the slider, the output end of the horizontal drive mechanism is fixedly connected to the spline nut, and the output end of the horizontal drive mechanism passes through the fixing frame and is slidably connected to the fixing frame.

[0023] Preferably, the horizontal drive mechanism comprises a pair of drive members and a pair of spline shafts matching the spline nut;

[0024] The output ends of the driving members are provided with the spline shafts in one-to-one correspondence, the spline shafts are connected to the spline nuts in one-to-one correspondence, the driving member drives the spline shafts to rotate to drive the spline nuts to rotate, and the fixing frame is slidably sleeved on the spline shafts.

[0025] The beneficial effects of the utility model are as follows: the utility model provides a bottle picking and placing device, which connects the orientation mechanism with the connecting rod mechanism through the setting of the orientation mechanism to keep the direction of the bottle picking part set at one end of the connecting rod mechanism fixed, and the relatively fixed setting between the fixed arm and the driven arm of the orientation mechanism makes the connecting rod mechanism and the orientation mechanism form at least one parallelogram when the driving mechanism drives the connecting rod mechanism to rotate, so that the movement amplitude of the connecting rod mechanism is reduced through the transformation of the parallelogram shape so that the movement amplitude of the bottle picking part set at one end of the connecting rod mechanism is smaller and the movement is more stable. In addition, the displacement is transmitted through the parallelogram structure formed by the connecting rod mechanism and the orientation mechanism, which further makes the movement of the bottle picking part more stable than direct driving, and the movement posture of the bottle picking part is more stable, so as to avoid the shaking of the bottle body clamped during the movement and transportation of the bottle picking part. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the bottle taking and placing device of the utility model;

[0027] Figure 2It is a schematic diagram of the overall structure of the bottle taking and placing device in the utility model;

[0028] Figure 3 It is a structural schematic diagram of the lifting and transmission assembly of the bottle taking and placing device in the utility model;

[0029] Figure 4 It is a structural schematic diagram of the horizontal transmission assembly of the bottle taking and placing device in the utility model.

[0030] Figure 5 It is a structural schematic diagram of the connecting rod mechanism of the bottle taking and placing device in the utility model;

[0031] Figure 6 It is a structural schematic diagram of the connecting rod mechanism, the orientation mechanism and the connection assembly of the bottle taking and placing device in the utility model;

[0032] Figure 7 It is a structural schematic diagram of the transformation of the connecting rod mechanism of the bottle taking and placing device in the utility model;

[0033] Figure 8 The utility model is a schematic diagram of the position change movement of the bottle picking member of the bottle picking and placing device.

[0034] Description of reference numerals:

[0035] 1. Connecting rod mechanism; 11. Horizontal moving part; 12. Orienting mechanism; 121. Fixed arm; 122. Driven arm; 123. Fork swing arm; 124. Long connecting rod; 13. Connecting assembly; 131. Long swing arm; 132. Short swing arm; 133. Swing arm connecting rod;

[0036] 2. Transmission mechanism; 21. Lifting shaft; 22. Short swing arm shaft; 23. Long swing arm shaft; 24. Lifting transmission assembly; 241. Fixed frame; 242. Sliding block; 25. Horizontal transmission assembly; 251. Spline swing arm; 252. Transmission swing arm; 253. Transmission connecting rod; 254. Spline nut;

[0037] 3. Driving mechanism; 31. Lifting driving member; 32. Horizontal driving member;

[0038] 4. Tablet;

[0039] 5. Bearing seat; 6. Bottle removal parts. DETAILED DESCRIPTION

[0040] Many specific details are described in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific implementation disclosed below.

[0041] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0043] like Figure 1 and Figure 2 As shown, the utility model provides a bottle picking and placing device, which is used to transfer bottles between a first station and a second station, and includes a bottle picking member 6, a connecting rod mechanism 1, and driving mechanisms 31 and 32 for driving the bottle picking member 6, wherein the driving mechanism 3 is connected to the connecting rod mechanism 1, and the connecting rod mechanism 1 is connected to the bottle picking member 6. The bottle picking and placing device also includes an orienting mechanism 12 for maintaining the translation of the bottle picking member 6, and the orienting mechanism 12 is connected to the connecting rod mechanism 1 to form at least one parallelogram, and the orienting mechanism 12 includes a fixed arm 121 fixed relative to the connecting rod mechanism 1 and a driven arm 122 following the connecting rod mechanism 1, the fixed arm 121 is connected to the driven arm 122, and the driven arm 122 is connected to the bottle picking member 6.

[0044] In this embodiment, the bottle picking and placing device is connected to the connecting rod mechanism 1 by the directional mechanism 12, so that the directional mechanism 12 is connected to the connecting rod mechanism 1 to keep the direction of the bottle picking member 6 arranged at one end of the connecting rod mechanism 1 fixed, and the relatively fixed arrangement between the fixed arm 121 and the driven arm 122 in the directional mechanism 12 makes the connecting rod mechanism 1 and the directional mechanism 12 form at least one parallelogram when the driving mechanism 3 drives the connecting rod mechanism 1 to rotate, so that the movement amplitude of the connecting rod mechanism 1 is reduced by the transformation of the parallelogram shape so that the bottle picking member 6 arranged at one end of the connecting rod mechanism 1 can move smoothly within a small amplitude. In addition, the bottle picking and placing device transmits the displacement through the parallelogram structure formed by the connecting rod mechanism 1 and the directional mechanism 12, further making the bottle picking member 6 more stable when moving with the connecting rod mechanism 1 compared with direct driving, and the movement posture of the bottle picking member 6 is more stable, so as to avoid the shaking of the bottle body clamped during the movement and transportation of the bottle picking member 6.

[0045] See also Figure 6-Figure 8In a preferred embodiment, the bottle picking and placing device forms three mutually influencing and mutually linked parallelograms through the fixed connection of the fixed arm 121 and the driven arm 122. When the driving mechanism 3 drives the connecting rod mechanism 1 and the directional mechanism 12 to rotate through the connecting assembly 13, the fixed connection of the fixed arm 121 and the driven arm 122 makes the parallelogram formed by the multi-link combination in the bottle picking and placing device change shape with the connection point of the fixed arm 121 and the driven arm 122 as the center, so that the bottle picking member 6 arranged at one end of the connecting rod mechanism 1 can reciprocate between different workpieces with the change of the parallelogram shape. Through the setting of the parallelogram shape change, the movement amplitude of the bottle picking and placing device is reduced, so that the bottle picking and placing device is more compact than the traditional picking and placing device structure and is more suitable for working in a narrow space. Furthermore, the compact structural arrangement enables the bottle picking member 6, the connecting rod mechanism 1, the orienting mechanism 12 and the connecting assembly 13 of the bottle picking and placing device to be more adaptable to the pressure-maintaining and sealing environment of cleaning, disinfection and sterilization.

[0046] See also Figure 5 The connecting rod mechanism 1 includes a horizontal swing arm 11, a long connecting rod 124, a short connecting rod and a fork swing arm 123; the horizontal swing arm 11, the short connecting rod, the long connecting rod 124 and the fork swing arm 123 are rotatably connected one by one to form at least one parallelogram, one end of the horizontal swing arm 11 is connected to the bottle picking part 6, the horizontal swing arm 11 is connected to the driving mechanism 3, one end of the fork swing arm 123 is fixedly connected to the first end of the driven arm 122, and the second end of the driven arm 122 is fixedly connected to the fixed arm 121.

[0047] The bottle picking and placing device further comprises a connecting assembly 13, through which the connecting rod mechanism 1 is connected to the driving mechanism 3. The connecting assembly 13 comprises a long rotary arm 131, a short rotary arm 132 and a swing arm connecting rod 133; one end of the long rotary arm 131 is connected to the driving mechanism 3, the other end of the long rotary arm 131 is rotatably connected to the horizontal swing arm 11, one end of the short rotary arm 132 is connected to the driving mechanism 3, the other end of the short rotary arm 132 is rotatably connected to the swing arm connecting rod 133, the swing arm connecting rod 133 is rotatably connected to the horizontal swing arm 11, and the horizontal swing arm 11 can reciprocate in the horizontal plane as the long rotary arm 131 and the short rotary arm 132 rotate.

[0048] In this embodiment, the horizontal swing arm 11, the short connecting rod, the long connecting rod 124 and one of the axes of the fork swing arm 123 are connected one by one to form a first parallelogram, the other axis of the fork swing arm 123 forms a second parallelogram with the long rotary arm 131, the fixed arm 121 and the driven arm 122, and the swing arm connecting rod 133, the short rotary arm 132, the long rotary arm 131 and the part of the horizontal swing arm 11 form a third parallelogram, and the first parallelogram, the second parallelogram and the third parallelogram are connected to each other. When the driving mechanism 3 drives the bottle picking and placing device to work, the angles in the three parallelograms change under the action of the driving mechanism 3, so that the shape of the parallelogram changes, and further drives the position of the bottle picking member 6 located on the first parallelogram to change. The bottle picking and placing device forms at least one parallelogram through the connection of the above-mentioned multiple connecting rod swing arms, and transmits the driving amount of the driving mechanism through the angle change of the parallelogram, so that the movement range of the bottle picking member 6 is reduced. Moreover, the connection of multiple connecting rods and swing arms avoids the belt drive and gear drive in the traditional bottle taking device, avoids the generation of friction particles, and makes it more adaptable to a clean and sterile environment.

[0049] like Figure 3 and Figure 4 As shown, the bottle picking and placing device also includes a table 4 and a bearing seat 5; the bottle picking member 6, the connecting rod mechanism 1 and the orienting mechanism 12 are all sealed and arranged above the table 4, the driving mechanism 3 is arranged below the table 4, the bearing seat 5 is arranged on the table 4 and one end of the bearing seat 5 is sealed and connected to the table 4, and the transmission mechanism 2 passes through the table 4 through the bearing seat 5 and is sealed and connected to the connecting component 13.

[0050] The bottle picking and placing device also includes a transmission mechanism 2, one end of which is connected to the connecting component 13, and the other end of the transmission mechanism 2 is connected to the driving mechanism 3; the transmission mechanism 2 includes a lifting transmission component 24, a horizontal transmission component 25, and a lifting shaft 21, a short swing arm shaft 22, and a long swing arm shaft 23 that are coaxially arranged; one end of the lifting transmission component 24 is connected to the lifting shaft 21, and the lifting shaft 21 is connected to the orienting mechanism 12 to drive the connecting rod mechanism 1 to reciprocate in the vertical direction through the orienting mechanism 12; one end of the horizontal transmission component 25 is connected to the short swing arm shaft 22 and the long swing arm shaft 23 to drive the short swing arm shaft 22 and the long swing arm shaft 23 to rotate, and the short swing arm shaft 22 and the long swing arm shaft 23 are both connected to the connecting component 13 to drive the connecting component 13 to rotate. The horizontal transmission assembly 25 includes a pair of spline swing arms 251, a pair of transmission swing arms 252, a pair of transmission connecting rods 253 and a pair of spline nuts 254; the spline nuts 254 are connected to the spline swing arms 251 one by one, the other ends of the spline swing arms 251 are connected to the transmission connecting rods 253 one by one, the transmission connecting rods 253 are connected to the transmission swing arms 252 one by one, and the pair of transmission swing arms 252 are respectively connected to the short swing arm shaft 22 and the long swing arm shaft 23 to drive the short swing arm shaft 22 and the long swing arm shaft 23 to rotate.

[0051] The lifting transmission assembly 24 includes a fixed frame 241 and a slider 242; the fixed frame 241 is fixedly connected to the lifting shaft 21 to drive the lifting shaft 21 to reciprocate in the vertical direction, and the slider 242 is fixedly arranged on the fixed frame 241, and the slider 242 can drive the fixed frame 241 to reciprocate in the vertical direction.

[0052] In this embodiment, the bottle picking and placing device seals and arranges the bottle picking member 6, the connecting rod mechanism 1 and the orienting mechanism 12 above the table 4 through the arrangement of the table, so that the mechanical parts of the bottle picking and placing device for transporting the bottle are all sealed and located above the table 4, and the sterile area and the aseptic area of ​​the bottle picking and placing device are separated by the table 4. The connecting rod mechanism 1 located above the table 4 is sealed and connected to the driving mechanism 3 located below the table 4 through the transmission mechanism 2, thereby avoiding contamination of the sterile area and facilitating the installation and maintenance of the motor driving part in the sterile area.

[0053] See also Figure 4 The driving mechanism 3 includes a lifting driving member 31 and a horizontal driving mechanism 32; the output end of the lifting driving member 31 is fixedly connected to the slider 242, the output end of the horizontal driving mechanism 32 is fixedly connected to the spline nut 254, and the output end of the horizontal driving mechanism 32 passes through the fixed frame 241 and is slidably connected to the fixed frame 241. The horizontal driving mechanism includes a pair of driving members and a pair of spline shafts matching the spline nut 254; the output ends of the driving members are respectively provided with spline shafts, the spline shafts are respectively connected to the spline nut 254, the driving members drive the spline shafts to rotate to drive the spline nut 254 to rotate, and the fixed frame 241 is slidably sleeved on the spline shafts.

[0054] In this embodiment, the paired driving members in the lifting driving member 31 and the horizontal driving mechanism 32 are preferably servo motors, so as to control the bottle picking and placing device. The output end of the horizontal driving mechanism 32 is fixedly connected to the spline nut 254, and the short swing arm shaft 22 and the long swing arm shaft 23 on the spline nut drive the long swing arm 131 and the short swing arm 132 on the connecting rod mechanism 1 to rotate by driving the rotation of the spline nut 254, and then the bottle picking member 6 is driven to work through the connecting rod mechanism 1. In addition, a slider 242 is fixedly arranged at the output end of the lifting driving member 31, and the slider 242 is connected to the fixed frame 241 fixedly arranged with the lifting shaft 21. The lifting and lowering of the slider 242 is driven by the lifting driving member 31, so that the fixed frame 241, the spline nut 254 and the lifting shaft 21 can all reciprocate in the vertical direction, and the lifting driving member 31 in this arrangement can be fixedly arranged and does not move with the lifting shaft, thereby reducing the load of the output shaft of the lifting driving member 31 and extending the service life.

[0055] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A bottle picking and placing device, used for transferring bottles between a first station and a second station, comprising a bottle picking member (6), a connecting rod mechanism (1), and a driving mechanism (3) for driving the bottle picking member (6), wherein the driving mechanism (3) is connected to the connecting rod mechanism (1), and the connecting rod mechanism (1) is connected to the bottle picking member (6), characterized in that: The bottle picking and placing device further comprises an orientation mechanism (12) for maintaining the translation of the bottle picking member (6); the orientation mechanism (12) is connected to the connecting rod mechanism (1) to form at least one parallelogram; the orientation mechanism (12) comprises a fixed arm (121) fixed relative to the connecting rod mechanism (1) and a driven arm (122) following the connecting rod mechanism (1); the fixed arm (121) is connected to the driven arm (122), and the driven arm (122) is connected to the bottle picking member (6).

2. The bottle picking and placing device according to claim 1, characterized in that: The connecting rod mechanism (1) comprises a horizontal swing arm (11), a long connecting rod (124), a short connecting rod and a fork swing arm (123); The horizontal swing arm (11), the short connecting rod, the long connecting rod (124) and the fork swing arm (123) are rotatably connected one by one to form at least one parallelogram, one end of the horizontal swing arm (11) is connected to the bottle picking member (6), the horizontal swing arm (11) is connected to the driving mechanism (3), one end of the fork swing arm (123) is fixedly connected to the first end of the driven arm (122), and the second end of the driven arm (122) is fixedly connected to the fixed arm (121).

3. The bottle picking and placing device according to claim 2, characterized in that: The bottle picking and placing device further comprises a connecting assembly (13), and the connecting rod mechanism (1) is connected to the driving mechanism (3) via the connecting assembly (13).

4. The bottle picking and placing device according to claim 3, characterized in that: The connecting assembly (13) comprises a long swing arm (131), a short swing arm (132) and a swing arm connecting rod (133); One end of the long rotary arm (131) is connected to the driving mechanism (3), and the other end of the long rotary arm (131) is rotatably connected to the horizontal swing arm (11); one end of the short rotary arm (132) is connected to the driving mechanism (3), and the other end of the short rotary arm (132) is rotatably connected to the swing arm connecting rod (133); the swing arm connecting rod (133) is rotatably connected to the horizontal swing arm (11); and the horizontal swing arm (11) can reciprocate in a horizontal plane as the long rotary arm (131) and the short rotary arm (132) rotate.

5. The bottle taking and placing device according to claim 3, characterized in that: The bottle taking and placing device further comprises a transmission mechanism (2), one end of the transmission mechanism (2) is connected to the connecting assembly (13), and the other end of the transmission mechanism (2) is connected to the driving mechanism (3); The transmission mechanism (2) comprises a lifting transmission assembly (24), a horizontal transmission assembly (25), and a lifting shaft (21), a short swing arm shaft (22), and a long swing arm shaft (23) which are coaxially arranged; One end of the lifting transmission assembly (24) is connected to the lifting shaft (21), and the lifting shaft (21) is connected to the directional mechanism (12) so as to drive the connecting rod mechanism (1) to reciprocate in the vertical direction through the directional mechanism (12); One end of the horizontal transmission assembly (25) is connected to the short swing arm shaft (22) and the long swing arm shaft (23) to drive the short swing arm shaft (22) and the long swing arm shaft (23) to rotate, and the short swing arm shaft (22) and the long swing arm shaft (23) are both connected to the connecting assembly (13) to drive the connecting assembly (13) to rotate.

6. The bottle picking and placing device according to claim 5, characterized in that: The horizontal transmission assembly (25) comprises a pair of spline swing arms (251), a pair of transmission swing arms (252), a pair of transmission connecting rods (253) and a pair of spline nuts (254); The spline nuts (254) are connected to the spline swing arms (251) in a one-to-one correspondence, the other ends of the spline swing arms (251) are connected to the transmission connecting rods (253) in a one-to-one correspondence, the transmission connecting rods (253) are connected to the transmission swing arms (252) in a one-to-one correspondence, and the paired transmission swing arms (252) are respectively connected to the short swing arm shaft (22) and the long swing arm shaft (23) to drive the short swing arm shaft (22) and the long swing arm shaft (23) to rotate.

7. The bottle taking and placing device according to claim 6, characterized in that: The lifting transmission assembly (24) comprises a fixing frame (241) and a sliding block (242); The fixed frame (241) is fixedly connected to the lifting shaft (21) to drive the lifting shaft (21) to reciprocate in the vertical direction, and the sliding block (242) is fixedly arranged on the fixed frame (241). The sliding block (242) can drive the fixed frame (241) to reciprocate in the vertical direction.

8. The bottle taking and placing device according to claim 5, characterized in that: The bottle taking and placing device also includes a table (4) and a bearing seat (5); The bottle taking member (6), the connecting rod mechanism (1) and the orienting mechanism (12) are all sealed and arranged above the table (4); the driving mechanism (3) is arranged below the table (4); the bearing seat (5) is arranged on the table (4) and one end of the bearing seat (5) is sealed and connected to the table (4); the transmission mechanism (2) passes through the table (4) through the bearing seat (5) and is sealed and connected to the connecting component (13).

9. The bottle taking and placing device according to claim 7, characterized in that: The driving mechanism (3) comprises a lifting driving member (31) and a horizontal driving mechanism (32); The output end of the lifting drive member (31) is fixedly connected to the slider (242), the output end of the horizontal drive mechanism (32) is fixedly connected to the spline nut (254), and the output end of the horizontal drive mechanism (32) passes through the fixed frame (241) and is slidably connected to the fixed frame (241).

10. The bottle taking and placing device according to claim 9, characterized in that: The horizontal drive mechanism comprises a pair of drive members and a pair of spline shafts matching the spline nut (254); The output ends of the driving members are provided with the spline shafts in one-to-one correspondence, the spline shafts are connected to the spline nuts (254) in one-to-one correspondence, the driving member drives the spline shafts to rotate to drive the spline nuts (254) to rotate, and the fixing frame (241) is slidably sleeved on the spline shafts.

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